Control algorithm for a yaw stability management system
First Claim
1. A method for controlling the yaw stability of a vehicle, comprising:
- measuring a yaw rate of the vehicle with a sensor;
calculating a desired yaw rate based on the vehicle'"'"'s speed and steering wheel angle;
calculating a yaw rate error as the difference between the desired yaw rate and the measured yaw rate;
comparing the yaw rate error to a threshold;
measuring a body slip angle;
calculating state equations for the rate of change of the vehicle yaw rate and the rate of exchange of the body slip angle;
linearizing the state equations and implementing the linearized state equations in a predictive control algorithm; and
if the yaw rate error exceeds the threshold, calculating a controlling yaw moment based on the predictive control algorithm.
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Abstract
A yaw stability control system is based on a linearized vehicle model and a predictive control algorithm. The control algorithm compares the vehicle yaw rate, from, for example, a production grade yaw rate sensor, with a desired yaw rate, which may be computed based on the vehicle speed and the steering wheel angle. If the yaw rate error, defined as the difference between the desired and measured yaw rates, exceeds a certain threshold, a controlling yaw moment is calculated based on the predictive control algorithm. This controlling yaw moment, or yaw torque, command is then translated into one or more actuator commands. For example, the control yaw moment may be produced by braking one or more of the vehicle'"'"'s wheels.
53 Citations
8 Claims
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1. A method for controlling the yaw stability of a vehicle, comprising:
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measuring a yaw rate of the vehicle with a sensor;
calculating a desired yaw rate based on the vehicle'"'"'s speed and steering wheel angle;
calculating a yaw rate error as the difference between the desired yaw rate and the measured yaw rate;
comparing the yaw rate error to a threshold;
measuring a body slip angle;
calculating state equations for the rate of change of the vehicle yaw rate and the rate of exchange of the body slip angle;
linearizing the state equations and implementing the linearized state equations in a predictive control algorithm; and
if the yaw rate error exceeds the threshold, calculating a controlling yaw moment based on the predictive control algorithm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification